CN117515317B - Photocuring repair robot - Google Patents
Photocuring repair robot Download PDFInfo
- Publication number
- CN117515317B CN117515317B CN202410015792.3A CN202410015792A CN117515317B CN 117515317 B CN117515317 B CN 117515317B CN 202410015792 A CN202410015792 A CN 202410015792A CN 117515317 B CN117515317 B CN 117515317B
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- China
- Prior art keywords
- mounting seat
- connecting rod
- driving
- mount pad
- axis
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Links
- 238000000016 photochemical curing Methods 0.000 title claims abstract description 38
- 238000009434 installation Methods 0.000 claims description 36
- 238000000429 assembly Methods 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 12
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 11
- 229910052753 mercury Inorganic materials 0.000 claims description 11
- 244000309464 bull Species 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims 1
- 230000001960 triggered effect Effects 0.000 claims 1
- 238000001723 curing Methods 0.000 abstract description 22
- 230000000694 effects Effects 0.000 abstract 1
- 239000011347 resin Substances 0.000 description 4
- 229920005989 resin Polymers 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C73/00—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D
- B29C73/04—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D using preformed elements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/165—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section
- F16L55/1652—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section
- F16L55/1654—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section and being inflated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
- B29C35/08—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation
- B29C35/0805—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation
- B29C2035/0827—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation using UV radiation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/60—Stopping leaks
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
- Manipulator (AREA)
Abstract
The application discloses light curing repair robot relates to the technical field of light curing repair, and comprises a mounting seat, a lamp holder, a first driving piece and a supporting component, wherein the mounting seat is divided into a first mounting seat and a second mounting seat which are coaxially arranged, and the second mounting seat can move towards a direction close to and far away from the first mounting seat; the first driving piece is used for driving the second mounting seat to move; the two supporting components are arranged on the first mounting seat and the second mounting seat respectively, each supporting component comprises a plurality of rotating rods which are rotatably arranged on the first mounting seat or the second mounting seat, each rotating rod is arranged on the side, away from the first mounting seat and the second mounting seat, of each rotating rod, and each end part of each rotating rod is provided with a rotatable supporting wheel; the first mounting seat and the second mounting seat are internally provided with a second driving source for driving the rotating rods to rotate simultaneously. The size range of the pipeline through which the photocuring repair robot can pass is enlarged, so that the effect of universality of the photocuring repair robot is improved.
Description
Technical Field
The application relates to the technical field of photo-curing repair, in particular to a photo-curing repair robot.
Background
Some drainage systems are built earlier, so that the structure of many road drainage pipelines is seriously damaged, the problem of external and underground water infiltration is prominent, and the drainage capacity of the pipelines is reduced or lost. The urban underground pipeline is complicated, the pipeline is excavated and transformed at high cost, and the surrounding traffic and the environment are greatly influenced. The non-excavation pipeline repairing technology has short repairing period and small influence on road traffic and environment, so the non-excavation pipeline repairing technology has great development prospect.
When the ultraviolet curing repair method in the trenchless pipeline repair technology is used for construction, firstly, the lining pipe which is soaked with photosensitive resin is pulled into a pipeline to be repaired, then compressed air is poured into the lining pipe, the lining pipe is tightly attached to the inner wall of the pipeline, then the photocuring repair robot carries a mercury lamp to penetrate through the lining pipe, when the photocuring repair robot penetrates through the lining pipe, the photosensitive resin is irradiated by the mercury lamp to be cured, so that the pipeline is repaired, and a camera for shooting the internal image of the pipeline is arranged on the photocuring repair robot.
However, the length of the photocuring repair robot is longer, and the domestic drainage system is complex, so that the size and shape difference of the drainage pipeline are larger, when the radian of the pipeline is larger or the radius of the corner of the pipeline is smaller, the photocuring repair robot cannot pass through, and the ultraviolet curing repair method is not easy to apply to the pipeline with larger radian or smaller radius of the corner, so that the universality is poor.
Disclosure of Invention
In order to increase the size range of a pipeline through which the photo-curing repair robot can pass, thereby improving the universality of the photo-curing repair robot, the application provides a photo-curing repair robot.
The application provides a photocuring repair robot, adopts following technical scheme:
a photo-curing repair robot comprising:
the mounting seat is divided into a first mounting seat and a second mounting seat which are coaxially arranged, and the second mounting seat can move towards the direction close to and far from the first mounting seat;
the lamp holders are used for installing mercury lamps and are arranged between the first installation seat and the second installation seat;
the first driving piece is used for driving the second mounting seat to move;
the support assembly is provided with two support assemblies and is respectively arranged on the first installation seat and the second installation seat, the support assembly comprises a plurality of rotating rods which are rotationally arranged on the first installation seat or the second installation seat, the rotating rods encircle the periphery side of the axis of the first installation seat, the rotation axis of the rotating rods is perpendicular to the axis of the first installation seat, the rotating rods are arranged on the opposite sides of the first installation seat and the second installation seat, and the end parts of the rotating rods are provided with rotatable support wheels;
the first mounting seat and the second mounting seat are internally provided with a second driving source for driving the rotating rods to rotate simultaneously so as to increase or reduce the included angle formed by the length direction of the rotating rods and the axis of the first mounting seat.
By adopting the technical scheme, when the light-cured repairing robot moves to the corner with smaller corner radius in the pipeline or before the light-cured repairing robot moves in the pipeline with larger radian, the first driving piece drives the second mounting seat to move towards the direction close to the first mounting seat, and meanwhile, the lamp holder moves to the lamp holder to be inserted into the yielding gap, so that the whole length of the light-cured repairing robot is shortened, the radius required by turning of the light-cured repairing robot is reduced, and the light-cured repairing robot can pass through the corner of the corresponding pipeline or can move along the pipeline with larger radian, thereby improving the universality of the light-cured repairing robot; the second driving source can drive a plurality of bull sticks to rotate simultaneously to adjust the position of a plurality of supporting wheels simultaneously, make the supporting wheel of light curing repair robot can with the inner wall butt of different inside lining pipes, thereby improve light curing repair robot's commonality.
Optionally, the supporting component is including setting up the drive plate in first mount pad or second mount pad, the drive plate can be followed first mount pad axis direction and removed, the second actuating source is used for driving the drive plate and removes, the supporting component is still including rotating a plurality of link members of connecting in first mount pad or second mount pad, and the axis of rotation perpendicular to first mount pad axis of link member, and link member one-to-one links to each other with the bull stick tip, when the drive plate removes, can drive a plurality of link members and rotate.
Through adopting above-mentioned technical scheme, the drive plate removes and can drive a plurality of bull sticks through a plurality of link spare and rotate.
Optionally, the supporting component further comprises a control switch for opening and closing the second driving source, the control switch is arranged between the first mounting seat and the second mounting seat and can be adjusted to a distance between the first mounting seat and the second mounting seat to be a preset value, and the supporting component further comprises a trigger piece connected with the driving plate, and when the driving plate moves, the trigger piece can be driven to move and trigger the control switch so as to close the second driving source.
Through adopting above-mentioned technical scheme, operating personnel can be according to the position of inside diameter adjustment control switch of inside lining pipe for when the driving plate removes to the trigger piece and can trigger control switch, the second driving source is closed, and the driving plate automatic stop removes, thereby the location of the driving plate of being convenient for.
Optionally, the lighting fixture sets up along first mount pad axis direction, and is a plurality of the lighting fixtures divide into two sets of, and be first lighting fixture group and second lighting fixture group respectively, the lighting fixture one end of first lighting fixture group sets up in the surface of first mount pad towards the second mount pad, and the lighting fixture one end of second lighting fixture group sets up in the surface of second mount pad towards first mount pad, and the lighting fixture dislocation set of the lighting fixture of second lighting fixture group and first lighting fixture group, and equal interval encircles the axis week side of first mount pad.
Through adopting above-mentioned technical scheme, when not needing first mount pad and second mount pad to be close to each other and remove, the length of lighting fixture can increase to install more mercury lamps, improve solidification efficiency, when first mount pad and second mount pad are close to each other and remove, first lighting fixture group and second lighting fixture group are moved to the lighting fixture of first lighting fixture group and the lighting fixture of second lighting fixture group side by side setting each other, because interval between the adjacent lighting fixture reduces this moment, make interval between the adjacent mercury lamps reduce, thereby improve light curing repair robot's curing ability.
Optionally, the lamp holders are annular, and a plurality of the lamp holders are arranged at intervals along the axis direction of the first mounting seat and are coaxial with the first mounting seat, and the first mounting seat and the second mounting seat are also provided with connecting rod assemblies; when the interval between first mount pad and the second mount pad increases, link assembly is used for making the interval of adjacent lighting fixture increase, and when the interval between first mount pad and the second mount pad dwindles, link assembly is used for making the interval of adjacent lighting fixture reduce.
Through adopting above-mentioned technical scheme, when a plurality of lighting fixtures are close to each other and remove, the interval between the mercury lamp reduces to improve the curing ability.
Optionally, the link assembly includes a plurality of link assemblies that set up between first mount pad and second mount pad along first mount pad axis direction, and is a plurality of link assembly connects gradually, link assembly includes crisscross and middle part position rotation connection's first connecting rod and second connecting rod, first connecting rod and second connecting rod can rotate relatively, link assembly's first connecting rod tip and adjacent link assembly's second connecting rod tip rotate to be connected, the lighting fixture links to each other with same link assembly, and is connected in link assembly axis of rotation is close to first mount pad one side or is close to second mount pad one side.
Through adopting above-mentioned technical scheme, when first connecting rod and second connecting rod crisscross and middle part position rotate to be connected, when first connecting rod and second connecting rod rotate, the whole length of a plurality of link assembly who connects gradually can reduce or increase to adjust the whole length of photocuring repair robot.
Optionally, the first connecting rod that is located link assembly tip rotates and is connected with first drive block, is located the second connecting rod that link assembly tip rotates and is connected with the second drive block, works as first mount pad and second mount pad can move away from each other when first drive block and second drive block are close to each other, works as first mount pad and second mount pad can move close to each other when first drive block and second drive block are away from each other, first drive piece is used for driving first drive block and second drive block and removes simultaneously.
Through adopting above-mentioned technical scheme, first driving piece can drive the whole length of link assembly through first drive piece and second drive piece and increase or reduce to drive the whole length of photocuring repair robot and increase or reduce.
Optionally, the device comprises a driving shaft, wherein the driving shaft is provided with two threaded sections with opposite rotation directions, one first driving block is in threaded connection with one threaded section, one second driving block is in threaded connection with the other threaded section, and the first driving piece is used for driving the driving shaft to rotate.
Through adopting above-mentioned technical scheme, when the drive shaft rotates, first drive piece and second drive piece can be close to each other or keep away from each other and remove to can auto-lock after first drive piece and second drive piece remove.
Optionally, all be provided with the stopper on first connecting rod and the second connecting rod, the lighting fixture outer wall has seted up spacing hole along lighting fixture circumference, the stopper runs through spacing hole, and keeps away from first connecting rod or second connecting rod one end and be provided with the dog.
Through adopting above-mentioned technical scheme, spacing hole is offered along lighting fixture circumference and is made spacing hole can be followed spacing hole and slide to make first connecting rod and second connecting rod can rotate.
Optionally, the stopper is cylindric, and rotates to connect in first connecting rod or second connecting rod, the axis of rotation of stopper is perpendicular to the axis direction of mount pad.
Through adopting above-mentioned technical scheme, the stopper is cylindric, and rotates to connect in first connecting rod or second connecting rod, can be convenient for the stopper slide along spacing hole.
In summary, the present application includes at least one of the following beneficial effects:
1. when the light curing repair robot moves to a corner with smaller corner radius inside the pipeline or before the light curing repair robot moves in the pipeline with larger radian, the first driving piece drives the second mounting seat to move towards the direction close to the first mounting seat, and meanwhile, the lamp holder moves to the lamp holder to be inserted into the yielding gap, so that the whole length of the light curing repair robot is shortened, the radius required by turning of the light curing repair robot is reduced, the light curing repair robot can pass through the corner of the corresponding pipeline or can move along the pipeline with larger radian, and the universality of the light curing repair robot is improved; the second driving source can drive the rotating rods to rotate at the same time, so that the positions of the supporting wheels are adjusted at the same time, the supporting wheels of the photo-curing repair robot can be abutted against the inner walls of different lining pipes, and the universality of the photo-curing repair robot is improved;
2. an operator can adjust the position of the control switch according to the inner diameter of the lining pipe, so that when the driving plate moves to the trigger piece to trigger the control switch, the second driving source is closed, and the driving plate automatically stops moving, thereby facilitating the positioning of the driving plate;
3. when the first connecting rod and the second connecting rod are crossed and the middle parts are rotationally connected, the overall length of a plurality of connecting rod assemblies which are sequentially connected can be reduced or increased when the first connecting rod and the second connecting rod are rotated, so that the overall length of the photo-curing repair robot is adjusted;
4. the limiting hole is formed along the circumferential direction of the lamp holder, so that the limiting hole can slide along the limiting hole, and the first connecting rod and the second connecting rod can rotate.
Drawings
FIG. 1 is a schematic overall structure of a first embodiment of the present application;
fig. 2 is a schematic structural diagram for showing an arrangement manner of lamp holders according to the first embodiment of the present application;
FIG. 3 is a schematic view of a structure for showing a support assembly according to a first embodiment of the present application;
FIG. 4 is a schematic overall structure of a second embodiment of the present application;
fig. 5 is a schematic view of a part of a cross-sectional structure for showing a stopper according to a second embodiment of the present application.
Reference numerals illustrate: 1. a mounting base; 11. a first mount; 12. a second mounting base; 2. a lamp holder; 21. a first lamp holder group; 22. the second lamp bracket group; 23. a limiting hole; 3. a relief gap; 4. a driving mechanism; 41. a first driving source; 42. a connecting rod assembly; 43. a connecting rod; 431. a first link; 432. a second link; 433. a limiting block; 434. a stop block; 44. a first driving block; 45. a second driving block; 46. a drive shaft; 461. a threaded section; 47. a third driving source; 5. a support assembly; 51. a rotating rod; 52. a support wheel; 53. a link member; 54. a second driving source; 55. a driving plate; 56. a control switch; 57. a trigger; 6. a mounting shaft; 7. a first connecting shaft; 8. a second connecting shaft; 9. and a protective cover.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-5.
Embodiment one:
the embodiment of the application discloses a photocuring repair robot, refer to fig. 1 and 2, photocuring repair robot includes actuating mechanism 4, mount pad 1, installation axle 6 and a plurality of first connecting axle 7, actuating mechanism 4 includes first actuating member, first actuating member includes first actuating source 41, first actuating source 41 is electric putter, installation axle 6 and first connecting axle 7 are the telescopic shaft, first actuating source 41 installs in installation axle 6, and the direction of movement of the output of first actuating source 41 is the axis direction of installation axle 6, make first actuating source 41 can drive installation axle 6 extension or shorten, the mode of installation axle 6 extension or shortening is that installation axle 6 divide into the inner tube and the outer tube that overlap each other and can relative slip, first actuating source 41 installs in the inner tube, the output and the outer tube fixed connection of first actuating source 41. The mount pad 1 divide into first mount pad 11 and second mount pad 12, and first mount pad 11 and second mount pad 12 coaxial arrangement are in the both ends of installation axle 6 outer tube, and a plurality of first connecting axles 7 encircle installation axle 6 axis setting, and length direction and installation axle 6 axis are parallel, and the both ends of first connecting axle 7 respectively with first mount pad 11 and second mount pad 12 sliding connection for first mount pad 11 and second mount pad 12 can follow the axis direction of installation axle 6 and remove. A protection cover 9 is arranged between the first mounting seat 11 and the second mounting seat 12, the protection cover 9 is sleeved outside the mounting shaft 6 and the first connecting shafts 7, and the protection cover 9 is used for protecting the mounting shaft 6 and the first connecting shafts 7.
When the first driving source 41 drives the installation shaft 6 to shorten, the installation shaft 6 can drive the first installation seats 11 and the second installation seats 12 at two ends of the installation shaft to move close to each other along the axial direction of the installation shaft 6, so that the overall length of the photo-curing repair robot is reduced, and the photo-curing robot can be used for repairing pipelines with large radian or small corner radius. When the first driving source 41 drives the mounting shaft 6 to extend, the mounting shaft 6 can drive the first mounting seat 11 and the second mounting seat 12 at two ends of the mounting shaft to move away from each other along the axial direction of the mounting shaft 6, so that the overall length of the photo-curing repair robot is increased.
Referring to fig. 1 and 2, the photo-curing repair robot includes a plurality of lamp holders 2 for mounting mercury lamps, the lamp holders 2 are divided into two groups, which are named a first lamp holder group 21 and a second lamp holder group 22, and the lamp holders 2 included in the first lamp holder group 21 and the second lamp holder group 22 are the same in number, and the present application describes taking the number of lamp holders 2 as two as an example. The lighting fixture 2 of first lighting fixture group 21 encircles in installation axle 6 week side to can dismantle through the bolt and connect in first mount pad 11 and be close to second mount pad 12 one end, a plurality of lighting fixture 2 rings installation axle 6 of second lighting fixture group 22 can dismantle through the bolt and connect in second mount pad 12 and be close to first mount pad 11 one end, and the lighting fixture 2 of first lighting fixture group 21 and the lighting fixture 2 of second lighting fixture group 22 stagger along the axis of installation axle 6 and set up. A plurality of yielding gaps 3 for the lamp holder 2 to move are formed between the first mounting seat 11 and the second mounting seat 12 along the axial direction of the mounting shaft 6.
When the installation shaft 6 drives the first installation seat 11 and the second installation seat 12 to move close to each other, the lamp holders 2 of the first lamp holder group 21 and the lamp holders 2 of the second lamp holder group 22 can move to the state that the lamp holders 2 are inserted into the corresponding abdication gaps 3, so that the lamp holders 2 and the installation seat 1 are not interfered, and at the moment, the lamp holders 2 of the first lamp holder group 21 and the lamp holders 2 of the second lamp holder group 22 are arranged side by side, the distance between adjacent mercury lamps is reduced, and the capability of curing photosensitive resin of the photo-curing repair robot is improved, so that the curing efficiency is improved. When the photocuring repair robot is used in a straight pipe or a pipeline with smaller radian, the mounting shaft 6 drives the first mounting seat 11 and the second mounting seat 12 to move away from each other, so that the distance between the first mounting seat 11 and the second mounting seat 12 is increased, the length of the lamp holder 2 can be increased, more mercury lamps are mounted, and the capability of the photocuring repair robot for curing photosensitive resin is improved.
Referring to fig. 1, the photo-curing repair robot is provided with the supporting components 5 on the side close to the first mounting seat 11 and the side close to the second mounting seat 12, and the supporting components 5 on the side close to the first mounting seat 1 and the supporting components 5 on the side close to the second mounting seat 12 have the same structure and working principle, so the supporting components 5 on the side close to the first mounting seat 11 are taken as an example for illustration.
Referring to fig. 1 and 3, the support assembly 5 includes a second driving source 54, a driving plate 55 and a plurality of link members 53, the second driving source 54 is an electric push rod, the second driving source 54 is mounted on the protective cover 9 near an end surface of the first mounting seat 11, a moving direction of an output end of the second driving source 54 is an axial direction of the mounting shaft 6, the driving plate 55 is disposed inside the first mounting seat 11 and sleeved on the plurality of first connecting shafts 7, and can move along the axial direction of the mounting shaft 6, and an output end of the second driving source 54 is fixedly connected with the driving plate 55. The plurality of link members 53 are arranged on the driving plate 55 around the mounting shaft 6, the link members 53 are L-shaped rods, the bending parts of the link members 53 are rotatably connected to the first mounting seat 11, one ends of the link members are rotatably connected with the driving plate 55, the other ends of the link members are fixedly connected with the rotating rods 51, one ends of the rotating rods 51, which are far away from the link members 53, are rotatably connected with the supporting wheels 52, so that when the driving plate 55 moves along the axial direction of the mounting shaft 6, the driving plate 55 can drive the rotating rods 51 to rotate towards the axial direction, which is close to or far away from the first mounting seat 11, through the link members 53.
When the photo-curing repair robot moves in the liner tube, the plurality of support wheels 52 can abut against the inner wall of the liner tube, thereby facilitating the movement of the photo-curing repair robot.
Referring to fig. 1 and 3, when the driving plate 55 moves in a direction away from the second mount 12, the plurality of rotating rods 51 rotate in a direction away from the axis of the first mount 11, i.e., the angle between the rotating rods 51 and the axis of the first mount 11 increases, so that the plurality of supporting wheels 52 can abut against the liner pipe having a larger inner diameter. When the driving plate 55 moves in the direction approaching the second mounting seat 12, the plurality of rotating rods 51 rotate in the direction approaching the axis of the first mounting seat 11, namely, the included angle between the rotating rods 51 and the axis of the first mounting seat 11 is reduced, so that the plurality of supporting wheels 52 can be abutted against the lining pipe with smaller inner diameter.
The driving plate 55 can control the movement of the plurality of supporting wheels 52 at the same time, thereby improving the efficiency of adjusting the positions of the supporting wheels 52.
Referring to fig. 3, the supporting assembly 5 includes a trigger 57 and two control switches 56, the control switches 56 are micro switches, the trigger 57 is used for triggering the control switches 56, the trigger 57 is fixedly connected with the driving plate 55 through the second connecting shaft 8, the second connecting shaft 8 is arranged along the axis direction of the mounting shaft 6, one end provided with the trigger 57 passes through the protection cover 9, the trigger 57 is located in the protection cover 9, the two control switches 56 are installed on the mounting shaft 6 on one side of the first driving source 41, which is close to the first mounting seat 11, at intervals, the trigger 57 is located between the two control switches 56, the control switch 56, which is close to the first driving source 41, is fixedly connected with the mounting shaft 6, and the control switch 56, which is far away from the first driving source 41, can slide along the axis direction of the mounting shaft 6 and can be locked. The locking manner of the control switch 56 is a conventional technical means, so that details are not described herein, for example, the control switch 56 may be locked by tightening the bolt against the mounting shaft 6, and the control switch 56 may be unlocked by loosening the bolt and moving.
First, the operator controls the driving plate 55 to move such that the trigger 57 is located at the control switch 56 near the first driving source 41, so that the trigger 57 can trigger the control switch 56, and then the operator adjusts the distance between the control switch far from the first driving source 41 and the first mounting seat 11 to be a predetermined value according to the inner diameter of the liner tube, so that when the driving plate 55 moves such that the trigger 57 is located at the control switch 56 far from the first driving source 41, the trigger 57 triggers the control switch 56 far from the first driving source 41, so that the driving plate 55 stops moving, thereby facilitating the positioning of the driving plate 55.
The implementation principle of the photo-curing repair robot in the embodiment of the application is as follows: the first mounting seat 11 and the second mounting seat 12 can move close to or away from each other to adjust the overall length of the light curing repair robot, so that the light curing repair robot can pass through a pipeline with a larger radian or a smaller corner radius, and the size range of the pipeline through which the light curing repair robot can pass is enlarged.
Embodiment two:
referring to fig. 4 and 5, a plurality of link assemblies 42 are sequentially connected between the first mount 11 and the second mount 12 along the axial direction of the mount shaft 6, the link assemblies 42 include first and second links 431 and 432 which are crossed and rotatably connected at the middle positions, and the first and second links 431 and 432 of adjacent link assemblies 42 are rotatably connected such that a scissors telescopic structure is formed between the first mount 11 and the second mount 12. The first driving member includes a third driving source 47, the third driving source 47 is a motor, the third driving source 47 is mounted on the first mounting seat 11, and a rotation axis of an output shaft of the third driving source 47 is perpendicular to an axis of the mounting shaft 6. The output shaft of the third driving source 47 is fixedly connected with a driving shaft 46 coaxially, the driving shaft 46 is simultaneously and rotatably connected to the first mounting seat 11, two ends of the driving shaft 46 are respectively provided with a reverse threaded section 461, one threaded section 461 is in threaded connection with a first driving block 44, the other threaded section 461 is in threaded connection with a second driving block 45, the first driving block 44 is rotatably connected with a first connecting rod 431 of the connecting rod assembly 42 close to the first mounting seat 11, and the second driving block 45 is rotatably connected with a second connecting rod 432 of the connecting rod assembly 42 close to the first mounting seat 11. The structure of the second mounting seat 12 and the structure of the first mounting seat 11 are arranged in a mirror image manner, and the mounting shaft 6, the first driving block 44 and the second driving block 45 are also included, the first driving block 44 of the second mounting seat 12 is rotatably connected with the first connecting rod 431 close to the connecting rod assembly 42 of the second mounting seat 12, and the second driving block 45 of the second mounting seat 12 is rotatably connected with the second connecting rod 432 close to the connecting rod assembly 42 of the second mounting seat 12.
Referring to fig. 4 and 5, the lamp holders 2 are ring-shaped, a plurality of lamp holders 2 are disposed between the first mounting seat 11 and the second mounting seat 12 at intervals along the axial direction of the mounting shaft 6, and the lamp holders 2 are coaxial with the mounting shaft 6. The outer wall of the lamp holder 2 is provided with two annular limiting holes 23 at intervals along the circumferential direction. The connecting rod 43 is rotatably connected with two limiting blocks 433 corresponding to the limiting holes 23, the limiting blocks 433 are cylindrical, the limiting blocks 433 penetrate through the limiting holes 23, and one end penetrating out of the limiting holes 23 is rotatably connected with a stop block 434.
When the third driving source 47 drives the driving shaft 46 to rotate, the first driving block 44 and the second driving block 45 can move toward or away from each other. When the first driving block 44 and the second driving block 45 are moved away from each other, the plurality of link assemblies 42 are shortened along the axial direction of the mounting shaft 6, so that the second mounting seat 12 is moved toward the direction close to the first mounting seat 11, thereby shortening the overall length of the photo-curing repair robot, simultaneously reducing the distance between the adjacent lamp holders 2, reducing the distance between the adjacent mercury lamps, and improving the curing efficiency. When the first driving block 44 and the second driving block 45 are moved close to each other, the plurality of link assemblies 42 are elongated in the axial direction of the mounting shaft 6, so that the second mount 12 is moved away from the first mount 11, thereby increasing the overall length of the photo-curing repair robot.
Stopper 433 and connecting rod 43 rotate to be connected, can be convenient for the stopper 433 in the removal of spacing hole 23, and dog 434 can reduce the circumstances that stopper 433 breaks away from spacing hole 23.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (5)
1. A photocuring repair robot which is characterized in that: comprising the following steps:
the mounting seat (1), the mounting seat (1) is divided into a first mounting seat (11) and a second mounting seat (12) which are coaxially arranged, and the second mounting seat (12) can move towards the direction approaching to and away from the first mounting seat (11);
the lamp holders (2) are used for installing mercury lamps, and the lamp holders (2) are arranged between the first installation base (11) and the second installation base (12);
a first drive source (41), wherein the first drive source (41) is used for driving the second mounting seat (12) to move;
the support assembly (5), the support assembly (5) is provided with two, and set up in first mount pad (11) and second mount pad (12) respectively, the support assembly (5) include many rotate set up in bull stick (51) of first mount pad (11) or second mount pad (12), a plurality of bull stick (51) encircle in first mount pad (11) axis week side and axis of rotation perpendicular to first mount pad (11) axis, bull stick (51) set up in first mount pad (11) and second mount pad (12) are deviate from the side mutually, and the tip is provided with supporting wheel (52) that can rotate;
the first mounting seat (11) and the second mounting seat (12) are internally provided with a second driving source (54) for driving the rotating rods (51) to rotate simultaneously so as to increase or decrease the included angle formed by the length direction of the rotating rods (51) and the axis of the first mounting seat (11);
the lamp holders (2) are annular, a plurality of lamp holders (2) are arranged at intervals along the axial direction of the first mounting seat (11) and are coaxial with the first mounting seat (11), and the first mounting seat (11) and the second mounting seat (12) are also provided with connecting rod assemblies (42); the connecting rod assembly (42) is used for enabling the distance between the adjacent lamp holders (2) to be increased when the distance between the first mounting seat (11) and the second mounting seat (12) is increased, and the connecting rod assembly (42) is used for enabling the distance between the adjacent lamp holders (2) to be decreased when the distance between the first mounting seat (11) and the second mounting seat (12) is reduced;
the connecting rod assembly (42) comprises a plurality of connecting rod assemblies (42) which are arranged between the first mounting seat (11) and the second mounting seat (12) along the axial direction of the first mounting seat (11), the connecting rod assemblies (42) are sequentially connected, each connecting rod assembly (42) comprises a first connecting rod (431) and a second connecting rod (432) which are crossed and are rotatably connected at the middle position, the first connecting rod (431) and the second connecting rod (432) can rotate relatively, the end part of the first connecting rod (431) of each connecting rod assembly (42) is rotatably connected with the end part of the second connecting rod (432) of the adjacent connecting rod assembly (42), and the lamp bracket (2) is connected with the same connecting rod assembly (42) and is connected with the same side of the rotating axis of the connecting rod assembly (42);
a first connecting rod (431) positioned at the end part of the connecting rod assembly (42) is rotationally connected with a first driving block (44), a second connecting rod (432) positioned at the end part of the connecting rod assembly (42) is rotationally connected with a second driving block (45), when the first driving block (44) and the second driving block (45) are close to each other, the first driving block (44) and the second driving block (45) can move away from each other, when the first mounting seat (11) and the second mounting seat (12) are close to each other, the first driving block (44) and the second driving block (45) can move close to each other, and a third driving source (47) is used for driving the first driving block (44) and the second driving block (45) to move simultaneously;
limiting blocks (433) are arranged on the first connecting rod (431) and the second connecting rod (432), limiting holes (23) are formed in the outer wall of the lamp holder (2) along the circumferential direction of the lamp holder (2), the limiting blocks (433) penetrate through the limiting holes (23), and one ends, far away from the first connecting rod (431) or the second connecting rod (432), of the limiting blocks are provided with stop blocks (434).
2. The light-cured repair robot of claim 1, wherein: the support assembly (5) comprises a driving plate (55) arranged in the first mounting seat (11) or the second mounting seat (12), the driving plate (55) can move along the axis direction of the first mounting seat (11), the second driving source (54) is used for driving the driving plate (55) to move, the support assembly (5) further comprises a plurality of connecting rod pieces (53) which are rotationally connected to the first mounting seat (11) or the second mounting seat (12), the rotation axis of the connecting rod pieces (53) is perpendicular to the axis of the first mounting seat (11), the connecting rod pieces (53) are in one-to-one correspondence with the end parts of the rotating rods (51), and the connecting rod pieces (53) can be driven to rotate when the driving plate (55) moves.
3. A photo-curing repair robot according to claim 2, characterized in that: the support assembly (5) further comprises a control switch (56) for opening and closing the second driving source (54), the control switch (56) is arranged between the first mounting seat (11) and the second mounting seat (12) and can be adjusted to a distance between the control switch and the first mounting seat (11) to be a preset value, the support assembly (5) further comprises a trigger piece (57) connected with the driving plate (55), and when the driving plate (55) moves, the trigger piece (57) can be driven to move and the control switch (56) is triggered to close the second driving source (54).
4. The light-cured repair robot of claim 1, wherein: the device comprises a driving shaft (46), wherein the driving shaft (46) is provided with two threaded sections (461) with opposite rotation directions, one first driving block (44) is in threaded connection with one threaded section (461), one second driving block (45) is in threaded connection with the other threaded section (461), and the third driving source (47) is used for driving the driving shaft (46) to rotate.
5. The light-cured repair robot of claim 1, wherein: the limiting block (433) is cylindrical and is rotatably connected to the first connecting rod (431) or the second connecting rod (432), and the rotation axis of the limiting block (433) is perpendicular to the axis direction of the mounting seat (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202410015792.3A CN117515317B (en) | 2024-01-05 | 2024-01-05 | Photocuring repair robot |
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| CN202410015792.3A CN117515317B (en) | 2024-01-05 | 2024-01-05 | Photocuring repair robot |
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| CN117515317A (en) | 2024-02-06 |
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